#!/bin/bash
# Software License Agreement (BSD)
#
# Author    Mike Purvis <mpurvis@clearpathrobotics.com>
# Copyright (c) 2014-2016, Clearpath Robotics, Inc., All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification, are permitted provided that
# the following conditions are met:
# * Redistributions of source code must retain the above copyright notice, this list of conditions and the
#   following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
#   following disclaimer in the documentation and/or other materials provided with the distribution.
# * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or
#   promote products derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
# WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
# TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

ROS_DISTRO=${ROS_DISTRO:-lunar}
ROS_CONFIGURATION=${ROS_CONFIGURATION:-desktop_full}
ROS_EXTRA_PACKAGES=${ROS_EXTRA_PACKAGES:-}
ROS_INSTALL_DIR=${ROS_INSTALL_DIR:-/opt/ros/${ROS_DISTRO}}

do_install()
{
  set -e

  # Homebrew
  if ! hash brew 2>/dev/null; then
    ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
    echo export PATH='/usr/local/bin:$PATH' >> ~/.bash_profile
    source ~/.bash_profile
    brew doctor
  fi
  brew update

  # XQuartz
  if ! hash xquartz 2>/dev/null; then
    brew install caskroom/cask/brew-cask
    brew cask install xquartz
    echo "Log out and in to finalize XQuartz setup."
    exit 0
  fi

  # Check for pip packages in the system Python directory.
  if [ $(ls /Library/Python/2.7/site-packages/ | wc -l) -gt 1 ]; then
    echo "These instructions are about to install Python from Homebrew. However, there are already"
    echo "pip packages installed against the system python, in the following path:"
    echo
    echo "    /Library/Python/2.7/site-packages/"
    echo
    echo "If you have problems, please uninstall these packages:"
    echo
    echo "    for i in \$( pip freeze ); do sudo -H pip uninstall -y \$i; done"
    echo
    echo "Then delete the build directory and start over again from scratch."
  fi

  # Check for root-owned stuff in /usr/local
  if [ $(find /usr/local/* -maxdepth 3 -type d -user root | wc -l) -gt 1 ]; then
    echo "Looks like you have some stuff owned by the root user in /usr/local. The installation can"
    echo "continue, but if there are pip packages which were installed using sudo, this will be a"
    echo "problem if rosdep tries to update them. If you have issues installing dependencies, consider"
    echo "nuking your Homebrew installation and starting from scratch:"
    echo
    echo "    https://gist.github.com/mxcl/1173223"
    echo
    echo "Alternatively, you could try chowning the contents of /usr/local to yourself:"
    echo
    echo "    sudo chown -R $USER:admin /usr/local/*"
  fi

  # Brewed Python
  if [ ! "$(which python2)" = "/usr/local/bin/python2" ]; then
    brew install python
    mkdir -p ~/Library/Python/2.7/lib/python/site-packages
    echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
  fi

  # Gives us console_bridge, urdfdom, and gtest.
  brew tap ros/deps

  # This tap gives us formulae for Gazebo and its dependencies, including SDF.
  brew tap osrf/simulation

  # ROS infrastructure tools
  brew install libyaml || true
  pip2 install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools bloom empy sphinx pycurl

  # Rosdep has an issue detecting that qt5 is correctly installed, so preinstall it. This is a keg-only formula,
  # so add its location to the prefix path in order for workspace packages to be able to find it.
  brew install qt5 pyqt5 sip
  export CMAKE_PREFIX_PATH=$(brew --prefix qt5)

  # This hack is required to make qt_gui_cpp compile correctly. See https://github.com/mikepurvis/ros-install-osx/pull/84#issuecomment-338209466
  pushd /usr/local/share/sip
  if [ ! -e PyQt5 ]; then
    ln -s Qt5 PyQt5
  fi
  popd

  # Get homebrew's opencv3 from a bottle so that we don't have to build it.
  brew install opencv3

  # Mock out python and pip so that we get the brewed versions when rosdep and other programs call them.
  # Mock out pip so that we get the brewed pip2 when rosdep calls it to make an installation.
  export PATH=$(pwd)/shim:$PATH

  # Initialize and update rosdep
  if [ ! -d /etc/ros/rosdep/ ]; then
    echo "This sudo prompt is to initialize rosdep (creates the /etc/ros/rosdep path)."
    sudo rosdep init
  fi
  if [ ! -f /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list ]; then
    echo "This sudo prompt adds the the brewed python rosdep yaml to /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
    sudo sh -c "echo 'yaml file://$(pwd)/rosdeps.yaml osx' > /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
  fi
  rosdep update

  # Remove previous workspace if present, create and enter new one.
  WS=${ROS_DISTRO}_${ROS_CONFIGURATION}_ws
  if [ -d "$WS" ]; then
    rm -rf "$WS"
  fi
  mkdir $WS
  cd $WS

  # Standard source install
  rosinstall_generator ${ROS_CONFIGURATION} ${ROS_EXTRA_PACKAGES} --rosdistro ${ROS_DISTRO} --deps --tar > ${WS}.rosinstall
  wstool init src
  pushd src
    # Avoid downloading opencv3; we already installed it from homebrew.
    wstool merge file://$(pwd)/../${WS}.rosinstall
    wstool remove opencv3
    wstool update -j8

    # See: https://github.com/ros/catkin/pull/784
    if [ -d catkin ]; then
      curl https://raw.githubusercontent.com/ros/catkin/8a47f4eceb4954beb4a5b38b50793d0bbe2c96cf/cmake/catkinConfig.cmake.in > catkin/cmake/catkinConfig.cmake.in
    fi

    # Pending release: https://github.com/ros-visualization/rviz/pull/1165
    if [ -d rviz ]; then
      curl https://raw.githubusercontent.com/mikepurvis/rviz/21eac2bcc061bb623fd17aa449f6215c493b27f2/CMakeLists.txt > rviz/CMakeLists.txt
    fi

    if [ -d image_pipeline ]; then
      # Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/303
      curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/image_proc/CMakeLists.txt > image_pipeline/image_proc/CMakeLists.txt
      curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/stereo_image_proc/CMakeLists.txt > image_pipeline/stereo_image_proc/CMakeLists.txt

      # Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/304
      curl https://raw.githubusercontent.com/mbreyer/image_pipeline/4bf67d3c861cb157e8174f67250680263b18d2b7/image_publisher/CMakeLists.txt > image_pipeline/image_publisher/CMakeLists.txt
    fi

    # Package dependencies.
    rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y --as-root pip:no
  popd

  # Clean out or create the install directory.
  if [ -d ${ROS_INSTALL_DIR} ]; then
    rm -rf ${ROS_INSTALL_DIR}/*
  else
    echo "This sudo prompt is to create and chown ${ROS_INSTALL_DIR}."
    sudo mkdir -p ${ROS_INSTALL_DIR}
    sudo chown $USER ${ROS_INSTALL_DIR}
  fi

  # Parallel build.
  catkin config --install \
    --install-space ${ROS_INSTALL_DIR} \
    --cmake-args \
      -DCATKIN_ENABLE_TESTING=1 \
      -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_FIND_FRAMEWORK=LAST \
      -DPYTHON_EXECUTABLE=$(which python2) \
      -DPYTHON_LIBRARY=$(python2 -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
      -DPYTHON_INCLUDE_DIR=$(python2 -c "import sys; print sys.prefix")/include/python2.7
  catkin build --limit-status-rate 1

  echo "Installation successful, please source the ROS workspace:"
  echo
  echo "  source ${ROS_INSTALL_DIR}/setup.bash"
  echo
  
  # Check for SIP if on OSX/macOS 10.11 (El Capitan) or later
  if [[ `sw_vers -productVersion` > "10.10" ]]
  then
    if `csrutil status | grep -q enabled`
    then
      echo "You have System Integrity Protection enabled."
      echo
      echo "This prevents DYLD_LIBRARY_PATH from being exported to subshells"
      echo "Please add: export DYLD_LIBRARY_PATH=\$DYLD_LIBRARY_PATH:/opt/ros/\$ROS_DISTRO/lib"
      echo "To the start of /opt/ros/$ROS_DISTRO/bin/rosrun to work around the issue."
    fi
  fi
}

do_install
